Implement blf-balancing-torque-control #707
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Member
GiulioRomualdi
commented
Jul 17, 2023
•
GiulioRomualdi
commented
|
Here is a video of the test in simulation balancing_torque_controller.mp4 |
isorrentino
requested changes
Jul 21, 2023
| @@ -653,6 +650,29 @@ bool YarpRobotControl::setReferences(Eigen::Ref<const Eigen::VectorXd> desiredJo | |||
| return false; | |||
There was a problem hiding this comment.
log()->error("[YarpRobotControl::setReferences] Unable to set the control modes.");
should be
log()->error("[YarpRobotControl::setControlMode] Unable to set the control modes.");
| com_knots_delta_x (0.0, 0.0, 0.03, 0.03, -0.03, -0.03, 0.0, 0.0) # in meter | ||
| com_knots_delta_y (0.0, 0.05, 0.05, -0.05, -0.05, 0.05, 0.05, 0.0) # in meter | ||
| com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter | ||
| #com_knots_delta_x (0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0) # in meter |
There was a problem hiding this comment.
Suggested change
| #com_knots_delta_x (0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0) # in meter |
| com_knots_delta_y (0.0, 0.05, 0.05, -0.05, -0.05, 0.05, 0.05, 0.0) # in meter | ||
| com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter | ||
| #com_knots_delta_x (0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0) # in meter | ||
| #com_knots_delta_y (0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, 0.0) # in meter |
There was a problem hiding this comment.
Suggested change
| #com_knots_delta_y (0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, 0.0) # in meter |
| com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter | ||
| #com_knots_delta_x (0.0, 0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0) # in meter | ||
| #com_knots_delta_y (0.0, 0.0, 0.0, -0.0, -0.0, 0.0, 0.0, 0.0) # in meter | ||
| #com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter |
There was a problem hiding this comment.
Suggested change
| #com_knots_delta_z (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) # in meter |
Comment on lines
480
to
484
| # if not blf.text_logging.LoggerBuilder.set_factory( | ||
| # blf.text_logging.YarpLoggerFactory("balancing-torque-control") | ||
| # ): | ||
| # blf.log().error("Impossible to set the logger factory.") | ||
| # return False |
There was a problem hiding this comment.
I do not know if you want to re-enable the logging. If not, you may cancel out these lines.
Comment on lines
488
to
489
|
|
||
|
|
isorrentino
approved these changes
Jul 26, 2023
GiulioRomualdi
force-pushed
the
balancing-torque
branch
from
0e06de7 to
5fdd83a
Compare
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.